Restructure modules into self-contained directories with per-device environment configs, config-driven dependency injection, src/ layout, dual-backend messaging service, and direct per-cycle loop() dispatch

[Copilot]

Replaces scattered config/docs/tests layout with co-located module directories, introduces per-device environment YAML files replacing a single enabled.yml, moves all module-to-module dependency wiring out of main.py into the environment config, consolidates source code under src/, moves environment configs to the project root, refactors the messaging service to support pypubsub, MQTT, or both with clear per-method routing, and replaces the unreliable system/loop pubsub event with a direct per-module loop() method call.

What type of change is this?

• New module
• Change to an existing module
• Core improvement
• Other (please describe)

📝 What does this change do?

Module structure — each module is fully self-contained under src/modules/:

src/
  main.py
  module_loader.py
  system_loop.py
  modules/
    gpio/motion/
      motion.py       # filename matches directory
      config.yml      # class + generic defaults only
      README.md
      tests/
    sensor/imu/bno055/
      bno055.py
      config.yml
      ...
  tests/              # non-module tests (module_loader, base_module)
  docs/               # infrastructure docs (ModuleLoader, SystemLoop, BaseModule)

environments/         # top-level — one YAML per device
  archie.yml          # full biped — bus servos, IMU, vision
  buddy.yml           # biped with PWM servos, NeoPixels, and IMX500 vision
  cody.yml            # biped with I2C servos, IMU, TFT display
  server.yml          # headless — Discord only
  laptop.yml          # dev — ChatGPT, Discord

src/ directory — main.py, module_loader.py, system_loop.py, and modules/ are now co-located under src/. startup.sh and CI both set PYTHONPATH=src so all existing module imports continue to work unchanged.

environments/ at project root — moved out of modules/environments/ to the top-level environments/ directory. ModuleLoader accepts an environments_folder parameter and auto-detects the project root via os.path.dirname relative to src/module_loader.py.

Per-device environment files (environments/<env>.yml) replace enabled.yml. Each file controls:

• Which modules are enabled
• Device-specific hardware overrides (config: shallow-merged over module defaults)
• Device-specific servo instances (instances: replaces module list)
• Dependency injection wiring (inject: / on_inject:)

Environment configs verified against per-device reference branches:

• archie.yml — full biped: bus servos, IMU (head+body), vision, TFT display, braillespeak, buzzer, speechinput, serial, tracking
• buddy.yml — PWM servos, NeoPixels (I2C/pin 12/count 12), gpio_motion pin 26, vision_imx500, tracking enabled; personality and chatgpt/telegram/tts disabled (matches buddy branch)
• cody.yml — I2C servos, BNO055 IMU with head+body instances, TFT display with full pin config, vision_imx500, ttsmodule with ElevenLabs config; personality injected with imu+vision (matches develop branch robot environment)
• server.yml — only messaging_service, logwrapper, and discordbot
• laptop.yml — lean: core + chatgpt + discordbot

Config-driven dependency injection — ModuleLoader.inject_dependencies() replaces all manual wiring in main.py:

# environments/archie.yml
personality:
  inject:
    servos: "Servo_*"          # wildcard → {servo.identifier: servo} dict
    imu.head: BNO055_imu_head  # dotted path → target.imu['head'] = instance
    imu.body: BNO055_imu_body
    vision: Vision

controller_handler:
  inject:
    controller: XboxController
  on_inject:
    - start                    # called after all injections

# src/main.py
loader = ModuleLoader(config_folder=modules_folder, environment=env)
module_instances = loader.load_modules()
loader.inject_dependencies(module_instances)

Dual-backend MessagingService — refactored to support pypubsub, MQTT, or both, configured via protocol: in the module config or environment override:

protocol	pypubsub active	MQTT active
pubsub (default)	✓	—
mqtt	—	✓
both	✓	✓

Routing is explicit to prevent double delivery:

• subscribe(topic, callback) — registers on all active backends so callbacks receive messages from either path
• publish(topic, ...) — routes to the primary backend only: pypubsub when protocol is pubsub or both; MQTT when protocol is mqtt
• publish_mqtt(topic, ...) — sends only to the MQTT backend; no-op if MQTT is not configured

# environments/archie.yml (or messaging_service config.yml)
messaging_service:
  config:
    protocol: both       # pubsub | mqtt | both
    mqtt_host: localhost
    mqtt_port: 1883

BaseModule.publish_mqtt() — new method for modules that need to explicitly push data to the MQTT broker without triggering local pypubsub listeners:

self.publish('sensor/temperature', value=42.0)       # → primary backend (pubsub by default)
self.publish_mqtt('sensor/temperature', value=42.0)  # → MQTT only

Direct per-cycle loop() dispatch — replaces the unreliable system/loop pubsub event with a direct method call pattern:

• BaseModule gains a no-op loop() placeholder — subclasses override it for per-cycle work
• SystemLoop now iterates all active module instances and calls module.loop() directly each cycle instead of publishing system/loop
• SystemLoop signature changed to (messaging_service, module_instances) so it receives the full loaded module dict
• Modules previously subscribing to system/loop are refactored to override loop():

Module	Was	Now
bus_servo	subscribe('system/loop', self._process_queue)	loop() override calls _process_queue()
controller_handler	subscribe('system/loop', self._process_input) in start()	loop() override calls _process_input() when running
vision/opencv	subscribe('system/loop', self.scan)	loop() override calls scan()

The timed events system/loop/1, system/loop/10, and system/loop/60 are unchanged — they continue to be published via pubsub.

Docs migrated to modules — docs/ directory removed. All module documentation now lives in each module's README.md. Infrastructure docs (BaseModule, ModuleLoader, SystemLoop) moved to src/docs/. ModuleLoader.md rewritten to document the new environment-based architecture.

Tests migrated to modules — all tests/test_*.py module-specific tests replaced their less-comprehensive module-local stubs in src/modules/*/tests/. Non-module tests (test_module_loader.py, test_base_module.py) moved to src/tests/. The old tests/ directory is removed. test.sh and CI updated to use PYTHONPATH=src with discovery from src/tests and src/modules.

Module config.yml holds only class name, dependencies, and device-agnostic defaults. Hardware-specific values (servo IDs/ranges, GPIO pins, I2C addresses, display pins) live exclusively in the environment file.

installers/autolaunch.sh — accepts enable <environment> (e.g. ./autolaunch.sh enable buddy), validates the env file exists at environments/<env>.yml, and embeds it in the systemd ExecStart.

❓ Why is this change needed?

• Module components were scattered across config/, docs/, tests/ — hard to navigate per module
• A single enabled.yml could not express per-device differences (Archie has bus servos; a server has none)
• Deploying to a new device required editing shared config files and patching main.py
• Dependency wiring in main.py grew as an ad-hoc list of conditionals with no declarative structure
• Source code (main.py, module_loader.py, system_loop.py, modules/) was mixed with project root files — no clear src/ boundary
• Environment configs were stored inside modules/ rather than at the project root where they logically belong
• Documentation lived in a separate docs/ tree with no co-location with the modules it described
• Top-level tests/ duplicated and diverged from module-local tests
• Per-device environment YAMLs were incomplete or incorrect relative to actual device configurations on their respective branches
• MessagingService could only use one backend at a time, with no way to target MQTT explicitly from a module; the initial dual-backend implementation caused double delivery when protocol: both because publish() fanned out to all active backends
• The system/loop pubsub event was unreliable — pypubsub event propagation is not guaranteed to complete within a single cycle, causing missed or delayed per-cycle polling in modules such as bus_servo, controller_handler, and vision/opencv

🛠️ How was this implemented?

src/ layout: modules/, main.py, module_loader.py, and system_loop.py moved into src/. startup.sh updated to reference src/main.py. test.sh and .github/workflows/test.yml updated to use PYTHONPATH=src with two discovery passes (src/tests and src/modules).

environments/ at root: modules/environments/ moved to top-level environments/. ModuleLoader.__init__ gains an environments_folder parameter; the default auto-detects the project root by going one level up from src/module_loader.py via os.path.dirname(os.path.abspath(__file__)).

Path inference: ModuleLoader derives the Python file from the config.yml location — the file must share its name with its containing directory (src/modules/gpio/motion/motion.py). No path: field needed.

Environment loading: _load_environment_config() reads environments/<env>.yml. Config values shallow-merge over module defaults; instances: fully replaces the module list.

Dependency injection:

• inject_dependencies(instances) reads inject: / on_inject: from the environment file after all modules are instantiated
• _resolve_inject_source() handles direct key lookup and Prefix_* wildcard (returns {inst.identifier: inst} dict)
• _set_attr() supports dotted-path notation (imu.head → target.imu['head'])
• Messaging service injection always runs first for all modules

MessagingService refactor:

• MessagingService.__init__ activates PubSubMessagingService and/or MQTTMessagingService based on the protocol config key
• subscribe() registers the callback on all active backends (so it receives messages from either path)
• publish() routes to the primary backend only — pypubsub when protocol is pubsub or both; MQTT when protocol is mqtt — preventing double delivery when protocol: both
• publish_mqtt() targets the MQTT backend exclusively regardless of protocol
• requirements.txt updated with pyyaml, requests, pypubsub, and paho-mqtt so CI pip install -r requirements.txt provides the packages the test runner needs

Direct loop() dispatch:

• BaseModule.loop() added as a no-op placeholder
• SystemLoop.__init__ accepts module_instances dict (replacing the single personality parameter) and stores a list of all module instances
• SystemLoop.run() calls module.loop() on every module each cycle; messaging_service.publish('system/loop') removed
• bus_servo, controller_handler, and vision/opencv each override loop() and remove their system/loop subscriptions

Docs migration: docs/ directory deleted after verifying all module docs were present verbatim in module README.md files. Fixed wrong title in bus_servo/README.md. Populated empty neopixel/neopx/README.md. Infrastructure docs moved to src/docs/.

Tests migration: Top-level tests/test_*.py files (which were more comprehensive) replaced module-local stubs in src/modules/*/tests/. sys.path manipulation removed from migrated tests since PYTHONPATH=src handles resolution. tests/ directory removed.

Environment config reconciliation: Each environment YAML was verified against its reference branch config directory:

• buddy.yml reconciled against the buddy branch — personality corrected to disabled, vision_imx500 and tracking added, oled_display and input_recorder removed (absent from buddy branch)
• cody.yml reconciled against the develop branch robot environment — bno055 with head/body instances added, tft_display with full pin config added, vision_imx500 added, ttsmodule updated with ElevenLabs service/voice config, gpio_motion/laser/oled_display removed (absent from develop config), personality inject updated to wire imu.head, imu.body, and vision

autolaunch.sh updated to validate and reference environments/<env>.yml at the project root.

🧪 How was this tested?

• 201 unit tests passing: 34 in src/tests/ + 167 in src/modules/
• 13 tests for inject_dependencies, _resolve_inject_source, _set_attr covering all injection patterns (simple, dict-path, wildcard, missing source, on_inject string/list)
• Messaging service tests cover all three protocol modes (pubsub, mqtt, both), primary-backend-only routing for publish(), subscribe fan-out to all backends, and publish_mqtt isolation — including a dedicated test asserting MQTT is not called when publish() is invoked with protocol: both
• BaseModule tests extended to cover publish_mqtt, and the new no-op loop() placeholder
• bus_servo tests updated: test_loop_calls_process_queue asserts loop() drains the queue; system/loop subscription asserted absent
• controller_handler tests updated: test_loop_calls_process_input_when_running and test_loop_does_not_call_process_input_when_not_running cover the new loop() guard
• vision/opencv tests updated: test_loop_calls_scan asserts loop() triggers detection; setup_messaging asserted to make no subscriptions
• bash test.sh runs both discovery passes (src/tests and src/modules) cleanly with PYTHONPATH=src
• All module keys referenced in environment YAMLs verified to exist in the module codebase

💥 Breaking changes

• Yes (please describe)
• No

modules/enabled.yml removed — replaced by environments/<env>.yml at the project root. Default environment is archie.

path: removed from module configs — Python filename must match its containing directory.

Device-specific config moved — servo instances/poses, GPIO pins, I2C addresses, display pins no longer in module config.yml; they belong in the appropriate environment file.

Module key renames: controller → controller_handler / xbox_controller; servos → bus_servo / servo; motion (laser) → laser; motion (read) → gpio_read.

bus_servo/servo.py renamed to bus_servo/bus_servo.py.

main.py, module_loader.py, system_loop.py, modules/ moved to src/ — any scripts or integrations referencing these at the project root must update their paths. Use PYTHONPATH=src when invoking Python directly.

modules/environments/ moved to environments/ — any external references to the old path must be updated.

docs/ removed — documentation now lives in each module's README.md and in src/docs/.

main.py wiring removed — manual injection blocks replaced by loader.inject_dependencies(). Any custom wiring must be declared in the environment YAML.

MessagingService internal structure changed — the old .messaging_service attribute (a single backend instance) is replaced by ._pubsub and ._mqtt. publish() no longer fans out to all backends; it routes to the primary backend only. Public subscribe(), publish(), and publish_mqtt() are the supported interface.

SystemLoop signature changed — constructor now takes (messaging_service, module_instances) instead of (messaging_service, personality). Any code constructing SystemLoop directly must be updated.

system/loop pubsub event removed — modules must override BaseModule.loop() instead of subscribing to system/loop. The timed events system/loop/1, system/loop/10, and system/loop/60 are unchanged.

requirements.txt now contains packages — previously a no-op comment file; now installs pyyaml, requests, pypubsub, and paho-mqtt for CI and local test runs.

🗂 Related issues

✅ PR Checklist

• Title & Description: PR title and description are clear and complete.
• Documentation: PR links to idea in github discussion group containing complete documentation.
• Scope & Size: PR is focused on a single issue/feature and is a reasonable size.
• Code Quality: Code is clean, consistent, and follows the project style guide.
• Tests: Tests have been added/updated if needed.
• Manual Testing: Changes have been tested on the latest release of the project.
• Self-Review: I've reviewed my own code and ensured there are no obvious issues.

🚀 Thank you for your contribution to the project!

---

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[danic85]

@copilot pull the latest from develop, apply the restructure to the new modules. Resolve any merge conflicts.

The config.yml files shouldn't need to specify the path of the python application anymore as it is the same directory as that file.

Migrate the 'enabled' flag for each module out of the individual config.yml files and create a files that defines which modules are enabled so that they can be adjusted from a single file.

Any modules that were original archived should remain in an archived folder.

[Copilot]

@copilot pull the latest from develop, apply the restructure to the new modules. Resolve any merge conflicts.

The config.yml files shouldn't need to specify the path of the pytho...

Done in commit 98ececa. Here's what was implemented:

DiscordBot from develop: Added modules/network/discordbot/ with the full module, config, docs, and tests. Also added to tests/test_discordbot.py for top-level test discovery.

Path inference: path: is removed from all config.yml files. The module loader now infers the Python file path from the config.yml directory location — since the Python file must have the same name as its containing directory (e.g. motion/motion.py), the path is constructed automatically. Only a class: key is needed in config.yml.

Central modules/enabled.yml: All enabled: and environment: fields are moved out of individual config.yml files into a single modules/enabled.yml. To enable/disable any module, just edit that one file. The module loader reads this file via _load_enabled_config() before scanning for config.yml files.

Archived modules: The modules/archived/ directory is untouched — it has no config.yml files so the module loader ignores it entirely.

Additional fixes: Resolved key conflicts (controller_handler/xbox_controller, bus_servo/servo), renamed bus_servo/servo.py → bus_servo/bus_servo.py to follow the naming convention, and corrected BNO055 I2C addresses to hex notation (0x28/0x29).

[danic85]

@copilot The next objective is to allow the same source to be configured for multiple devices / environments, namely:

• Archie
• Buddy
• Cody
• Server
• Laptop

Each device configuration should allow specific modules to be enabled / disabled, and any device specific config such as servo range values should be configured at this level. Any other configuration values should remain in the module config files.

The startup and installer scripts already allow an 'environment' to be specified, and each config.yml can accept an optional 'environment' flag. Utilise and clean up this as part of the refactor.

Create the environment config yaml files withing the modules directory where the 'enabled' yaml is current placed, and remove the enabled yaml file.

Revisit the structure of the project, ensuring that it follows best practices and that all elements are in appropriately named directories that match the proposed restructure.

Ensure all unit tests and documentation is updated to match this new approach, and that the autolaunch.sh accommodates specifying an environment to autolaunch.

Also pull in the latest develop branch and handle merge conflicts

[danic85]

@copilot The next objective is to allow the same source to be configured for multiple devices / environments, namely:

Archie
Buddy
Cody
Server
Laptop

Each device configuration should allow specific modules to be enabled / disabled, and any device specific config such as servo range values should be configured at this level. Any other configuration values should remain in the module config files.

The startup and installer scripts already allow an 'environment' to be specified, and each config.yml can accept an optional 'environment' flag. Utilise and clean up this as part of the refactor.

Create the environment config yaml files withing the modules directory where the 'enabled' yaml is current placed, and remove the enabled yaml file.

Revisit the structure of the project, ensuring that it follows best practices and that all elements are in appropriately named directories that match the proposed restructure.

Ensure all unit tests and documentation is updated to match this new approach, and that the autolaunch.sh accommodates specifying an environment to autolaunch.

Also pull in the latest develop branch and handle merge conflicts

[Copilot]

@copilot The next objective is to allow the same source to be configured for multiple devices / environments, namely:

Archie
...

Done in commit 8240a7e. Here's what was implemented:

modules/environments/ — New directory with one YAML file per device:

• archie.yml — full biped robot (bus servos, IMU, vision, all hardware)
• buddy.yml — biped robot with PWM servos (pigpio)
• cody.yml — biped robot with I2C servos (PCA9685)
• server.yml — headless server (Discord bot, ChatGPT, Telegram; no hardware)
• laptop.yml — development (ChatGPT, Discord bot; no hardware)

Each environment file controls which modules are enabled: true/false and provides device-specific overrides (servo IDs/ranges, GPIO pins, I2C addresses). Generic config (AI prompts, log levels, voice IDs) stays in each module's config.yml.

module_loader.py — _load_enabled_config() replaced by _load_environment_config() which loads modules/environments/<env>.yml. Added merge logic: environment config: shallow-merges over module config:; environment instances: replaces module instances:. The environments/ subdir is excluded from the config.yml scan.

Device-specific config moved to environment files — servo instances/poses, BNO055 I2C addresses, GPIO pin numbers, and display pin assignments were stripped from module config.yml files and placed in archie.yml.

installers/autolaunch.sh — Updated to accept enable <environment> (e.g. ./autolaunch.sh enable buddy). Validates the environment file exists, lists available environments on error, and embeds the environment name in the systemd ExecStart line.

Develop changes applied — system_loop.py debug log comment, .gitignore logs/ entry.

237 tests passing (112 in tests/ + 125 module-local).

@copilot The next objective is to allow the same source to be configured for multiple devices / environments, namely:

• Archie
  ...

Addressed in commit 8240a7e — see the reply above for the full summary.

[danic85]

@copilot migrate any documentation from the docs directory to the appropriate module directory. Merge with module README if necessary.
Migrate any module tests remaining in the tests directory to the appropriate module, merge, update and check that they pass and have 100% coverage.

Move the environments config yaml directory out of modules and into the top level project directory. Update source to reference this correctly.

Move the following directories into a new folder src and ensure that code and bash scripts are refactored to work correctly following this move:

• modules
• main.py
• module_loader.py
• system_loop.py

The environments config yamls are not correctly configured. To understand which modules to enable (and the environment specific configuration, please reference the following branches and update accordingly:

• archie.yml - branch: archie
• buddy.yml - branch: buddy
• cody.yml - branch: develop
• laptop.yml - branch:develop (any module configured with an environment of 'laptop' or not 'robot'
• server - branch:develop (only discord and the core required modules such as logging should be enabled)

[Copilot]

@copilot migrate any documentation from the docs directory to the appropriate module directory. Merge with module README if necessary.
Migrate any module tests remaining in the test...

Done in commit e63a395. Here's what was implemented:

Docs migrated to modules — docs/ directory deleted. All content was already present verbatim in module README.md files (placed there in a prior commit). Fixed the wrong title in bus_servo/README.md ("BaseModule Documentation" → "BusServo Module Documentation"). Populated the empty neopixel/neopx/README.md from docs/Neopixel.md. Infrastructure docs (BaseModule, SystemLoop, ModuleLoader) moved to src/docs/; ModuleLoader.md rewritten to document the new environment-based architecture.

Tests migrated to modules — All tests/test_*.py files with module-specific content were merged into their corresponding src/modules/*/tests/ directories (top-level versions replaced the less-comprehensive module stubs). test_base_module.py and test_module_loader.py (no module home) moved to src/tests/. The old tests/ directory is removed. All 184 tests pass.

environments/ moved to project top-level — modules/environments/*.yml → environments/*.yml. module_loader.py updated with an environments_folder parameter that defaults to the project root environments/ directory (detected via os.path.dirname relative to src/module_loader.py).

src/ directory created — modules/, main.py, module_loader.py, system_loop.py moved into src/. Updated startup.sh → src/main.py, test.sh and .github/workflows/test.yml to use PYTHONPATH=src with discovery from src/tests and src/modules. src/main.py adds src/ to sys.path and uses an absolute path for config_folder.

Environment configs fixed based on branch references:

• buddy.yml: disabled chatgpt/telegram/ttsmodule (were enabled: false on buddy branch), removed controller, added neopixel (I2C, pin 12, count 12), corrected gpio_motion.pin to 26
• server.yml: now only enables messaging_service, logwrapper, and discordbot (as specified)
• cody.yml: uses i2c_servo instead of bus_servo; clean set matching develop-branch modules
• archie.yml: added braillespeak, buzzer, speechinput, serial, and tracking (all present on archie branch)
• laptop.yml: kept lean — core + chatgpt + discordbot

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[danic85]

@copilot Fix failing unit tests. Refactor messaging service to facilitate pypubsub (default) and mqtt messaging, by allowing messages to be sent by mqtt (by calling a different method in the base module class). Allow modules to subscribe to both services using the same method calls. The messaging service module config should allow the choice of (just) pypubsub, mqtt, or both.

[Copilot]

@copilot Fix failing unit tests. Refactor messaging service to facilitate pypubsub (default) and mqtt messaging, by allowing messages to be sent by mqtt (by calling a different meth...

Done in commit 2a5db2f.

CI test failures fixed — requirements.txt now lists pyyaml, requests, pypubsub, and paho-mqtt so the CI pip install -r requirements.txt step provides the packages the test runner needs.

MessagingService refactored to support three protocol modes (configured via protocol: in messaging_service config or environment override):

protocol	pypubsub active	MQTT active
pubsub (default)	✓	—
mqtt	—	✓
both	✓	✓

• subscribe(topic, callback) → fans out to all active backends (same call regardless of protocol)
• publish(topic, ...) → fans out to all active backends
• publish_mqtt(topic, ...) → sends only to the MQTT backend; no-op if MQTT is not configured

BaseModule.publish_mqtt() added so any module can explicitly target the MQTT bus:

# Send to all active backends (pubsub and/or mqtt)
self.publish('sensor/temperature', value=42.0)

# Send only to MQTT (e.g. for external system integration)
self.publish_mqtt('sensor/temperature', value=42.0)

All 197 tests pass (33 in src/tests/, 164 in src/modules/).

[danic85]

@copilot this implementation is flawed as each publish will be received twice, once for pubsub and once for MQTT. The default publish should be pubsub, unless otherwise specified. Make changes and ensure all tests pass.

[Copilot]

@copilot this implementation is flawed as each publish will be received twice, once for pubsub and once for MQTT. The default publish should be pubsub, unless otherwise specified. M...

Fixed in commit 8af1205.

publish() now routes to the primary backend only — no double delivery:

protocol	publish() →	publish_mqtt() →	subscribe() registers on
pubsub (default)	pypubsub	no-op	pypubsub
mqtt	MQTT	MQTT	MQTT
both	pypubsub	MQTT	both

When protocol: both, publish() goes to pypubsub only (the default), and publish_mqtt() sends explicitly to MQTT. subscribe() continues to register on all active backends so callbacks receive messages from either path.

[danic85]

@copilot The system/loop event is called every cycle. This is unreliable with pubsub as the event does not always propagate as it should.
Instead of this, create a loop method in base module that is a placeholder, then require every active module to have loop() called from system_loop.py in place of the event.
Any modules that subscribe to system/loop should be refactored to use a loop method instead of the event subscription.

Do not change the other loop events such as system/loop/1 etc. These must retain their behaviour.

Ensure all tests pass.

[Copilot]

@copilot The system/loop event is called every cycle. This is unreliable with pubsub as the event does not always propagate as it should.
Instead of this, create a loop method in ba...

Done in commit 02fe117.

loop() is now a direct method call, not an event:

• BaseModule gains a no-op loop() placeholder — subclasses override it for per-cycle work
• SystemLoop now calls module.loop() on every active module each cycle instead of publishing system/loop
• SystemLoop signature changed to (messaging_service, module_instances) so it can iterate all loaded modules

Modules refactored:

Module	Was	Now
bus_servo	subscribe('system/loop', self._process_queue)	loop() override calls _process_queue()
controller_handler	subscribe('system/loop', self._process_input) in start()	loop() override calls _process_input() when running
vision/opencv	subscribe('system/loop', self.scan)	loop() override calls scan()

system/loop/1, system/loop/10, and system/loop/60 are unchanged — they continue to be published via pubsub. All 201 tests pass.

[Copilot]

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